diff --git a/compressed_image_transport/src/compressed_subscriber.cpp b/compressed_image_transport/src/compressed_subscriber.cpp
index 28a1077..3733805 100644
--- a/compressed_image_transport/src/compressed_subscriber.cpp
+++ b/compressed_image_transport/src/compressed_subscriber.cpp
@@ -45,6 +45,7 @@
 
 #include <limits>
 #include <vector>
+#include <iostream>
 
 constexpr const char* kDefaultMode = "unchanged";
 
@@ -67,24 +68,31 @@ void CompressedSubscriber::subscribeImpl(
     typedef image_transport::SimpleSubscriberPlugin<CompressedImage> Base;
     Base::subscribeImpl(node, base_topic, callback, custom_qos);
     std::string mode;
-    rcl_interfaces::msg::ParameterDescriptor mode_description;
-    mode_description.name = "mode";
-    mode_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-    mode_description.description = "OpenCV imdecode flags to use";
-    mode_description.read_only = false;
-    mode_description.additional_constraints = "Supported values: [unchanged, gray, color]";
-    mode = node->declare_parameter("mode", kDefaultMode, mode_description);
-
-    if (mode == "unchanged") {
-      config_.imdecode_flag = cv::IMREAD_UNCHANGED;
-    } else if (mode == "gray") {
-      config_.imdecode_flag = cv::IMREAD_GRAYSCALE;
-    } else if (mode == "color") {
-      config_.imdecode_flag = cv::IMREAD_COLOR;
-    } else {
-      RCLCPP_ERROR(logger_, "Unknown mode: %s, defaulting to 'unchanged", mode.c_str());
-      config_.imdecode_flag = cv::IMREAD_UNCHANGED;
+    uint ns_len = node->get_effective_namespace().length();
+    std::string param_base_name = base_topic.substr(ns_len);
+    std::replace(param_base_name.begin(), param_base_name.end(), '/', '.');
+    std::string mode_param_name = param_base_name + ".mode";
+    if (!node->has_parameter(mode_param_name))
+    {
+      rcl_interfaces::msg::ParameterDescriptor mode_description;
+      mode_description.name = "mode";
+      mode_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+      mode_description.description = "OpenCV imdecode flags to use";
+      mode_description.read_only = false;
+      mode_description.additional_constraints = "Supported values: [unchanged, gray, color]";
+      mode = node->declare_parameter(mode_param_name, kDefaultMode, mode_description);
+      if (mode == "unchanged") {
+        config_.imdecode_flag = cv::IMREAD_UNCHANGED;
+      } else if (mode == "gray") {
+        config_.imdecode_flag = cv::IMREAD_GRAYSCALE;
+      } else if (mode == "color") {
+        config_.imdecode_flag = cv::IMREAD_COLOR;
+      } else {
+        RCLCPP_ERROR(logger_, "Unknown mode: %s, defaulting to 'unchanged", mode.c_str());
+        config_.imdecode_flag = cv::IMREAD_UNCHANGED;
+      }
     }
+
 }